CN114295051A - Automatic positioning device and method for harmonic coil magnetic field measurement - Google Patents
Automatic positioning device and method for harmonic coil magnetic field measurement Download PDFInfo
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Abstract
The invention relates to an automatic positioning device and method for measuring a harmonic coil magnetic field, which is characterized by comprising an automatic posture adjusting system, a photogrammetry system and a control feedback system, wherein the photogrammetry system comprises a matte total reflection ball target, a reflection ball target with a fluorescent mark and a special measuring camera; the automatic posture adjusting system is used for placing the multipole magnet to be detected and adjusting the posture of the multipole magnet to be detected; at least two matte total reflection ball targets are fixedly arranged on a harmonic coil arranged in the multipole magnet to be detected, and a plurality of reflection ball targets with fluorescent markers are respectively fixedly arranged at the top of the multipole magnet to be detected; a plurality of special measuring cameras are arranged at intervals outside the automatic posture adjusting system and are used for acquiring three-dimensional coordinate data of each matte total reflection ball target and each reflection ball target with a fluorescent mark; the control feedback system is used for controlling the rotation of the harmonic coil and controlling the automatic posture adjusting system to adjust the posture of the multipole magnet to be measured.
Description
Technical Field
The invention relates to the technical field of collimation positioning, in particular to an automatic positioning device and method for harmonic coil magnetic field measurement.
Background
In the beam debugging of the particle accelerator, the focusing of charged particles and the improvement of beam quality are realized by the magnetic field generated by the multipole magnet, but various errors are inevitably generated in the processing production of the multipole magnet, the errors can cause the difference between the designed magnetic field parameters and the real magnetic field parameters of the multipole magnet, and the acquisition of the real magnetic field parameters of the multipole magnet can be realized only by accurate magnetic field measurement. In the magnetic field measurement, the magnetic field center measurement of the multipole magnet and the distribution of the harmonic component sizes of each order are completed by a harmonic coil magnetic field photogrammetry system, and in the harmonic coil magnetic field measurement of the multipole magnet, the accurate positioning of the relative position between a harmonic coil and the multipole magnet is a very important link.
The traditional harmonic coil magnetic field photogrammetry system is used for positioning a harmonic coil by matching a laser tracker with laser tracker reflection target balls arranged on two sides of the harmonic coil, and in the measurement and positioning process, because a light reflecting port of the laser tracker reflection target ball is always over against a light emitter of the laser tracker to normally measure, otherwise, the measurement accuracy of the laser tracker is influenced, and even the laser tracker is cut off.
Therefore, in the positioning and measuring process of the harmonic coil, a special measurer is needed to rotate the light reflecting port of the total reflection target ball of the laser tracker in real time along with the rotation of the harmonic coil, and in the process of rotating the total reflection target ball of the laser tracker, the situation of movement of the harmonic coil is caused because the strength is not well grasped sometimes. The positioning of the multipole magnet is realized by measuring the calibration reference of the magnet through a laser tracker and manually adjusting the support of the multipole magnet by a technician. In the process of measuring the magnetic field of the harmonic coil, the harmonic coil magnetic field measurement work of a single multipole magnet can be completed only by repeating the positioning measurement work for many times, and the harmonic coil magnetic field photogrammetry system is long in positioning time and high in labor cost. Meanwhile, with the gradual increase of the device size of the new generation particle accelerator, the number of the multipole magnets in the accelerator device is increased in a geometric multiple manner, the requirements on various indexes of the measurement of the harmonic coil magnetic field are higher and higher, and the traditional positioning device of the harmonic coil magnetic field photogrammetry system cannot meet the requirements of the measurement of the large-scale multipole magnet harmonic coil magnetic field of the particle accelerator.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an automatic positioning device and method for harmonic coil magnetic field measurement, which can meet the requirement of mass multipole magnet harmonic coil magnetic field measurement for a particle accelerator.
In order to achieve the purpose, the invention adopts the following technical scheme: in a first aspect, an automatic positioning device for harmonic coil magnetic field measurement is provided, which comprises an automatic posture adjusting system, a photogrammetry system and a control feedback system, wherein the photogrammetry system comprises a matte total reflection ball target, a reflection ball target with a fluorescent mark and a special measurement camera;
the automatic posture adjusting system is used for placing the multipole magnet to be detected and adjusting the posture of the multipole magnet to be detected;
at least two matte total reflection ball targets are fixedly arranged on a harmonic coil arranged in the multipole magnet to be detected, and a plurality of reflection ball targets with fluorescent markers are respectively fixedly arranged at the top of the multipole magnet to be detected; a plurality of special measuring cameras are arranged at intervals outside the automatic posture adjusting system and are used for acquiring three-dimensional coordinate data of each matte total reflection ball target and each reflection ball target with a fluorescent mark;
the control feedback system is used for controlling the rotation of the harmonic wave coil and controlling the automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent marker.
Further, the automatic posture adjusting system comprises a base, a supporting regulator, a driving motor and a supporting plate;
the top of the base is connected with the supporting plate through the supporting regulator, the supporting plate is used for placing the multipole magnet to be measured, and the supporting regulator is used for supporting and regulating the pose of the multipole magnet to be measured on the supporting plate;
and the driving motor is used for driving the action corresponding to the supporting regulator according to the control of the control feedback system, so as to regulate the pose of the multipole magnet to be measured.
Furthermore, the number of the supporting regulators is six, and every two supporting regulators are a group of V-shaped structures and are arranged between the base and the supporting plate.
Further, the photogrammetric system also comprises a support;
the brackets are symmetrically and fixedly arranged at intervals outside the automatic posture adjusting system, and each bracket is provided with one special measuring camera.
Furthermore, the plurality of special measuring cameras intersect with each other at the center of the harmonic coil, so that the measuring view field of the special measuring cameras can fully cover the multipole magnet to be measured and the harmonic coil.
Furthermore, a parameter setting module, a measurement control module, a data resolving module, an attitude adjusting control module and a harmonic coil control module are arranged in the control feedback system;
the parameter setting module is used for presetting the calibration data and the magnetic field measurement tolerance range of the multipole magnet to be measured;
the measurement control module is used for controlling the work of each special measurement camera and carrying out image processing, image matching and data conversion on the three-dimensional coordinate data acquired by each special measurement camera;
the data resolving module is used for determining the deviation amount between the multipole magnet to be detected and the harmonic coil according to the processed three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent marker;
the posture adjusting control module is used for controlling the automatic posture adjusting system to work according to the determined deviation amount;
the harmonic coil control module is used for controlling the rotation of the harmonic coil and the acquisition of magnetic field measurement data.
Further, the diameter of the reflecting spherical target with the fluorescent mark is the same as that of the reflecting spherical target of the laser tracker.
In a second aspect, there is provided a method for automated positioning of harmonic coil magnetic field measurements, comprising:
a plurality of special measuring cameras are arranged at intervals outside the automatic posture adjusting system;
placing a multi-pole magnet to be tested on an automatic posture adjusting system, installing a harmonic coil in the multi-pole magnet to be tested, clamping and fixing at least two matte total reflection ball targets on the harmonic coil, and fixedly arranging a plurality of reflection ball targets with fluorescent markers on the top of the multi-pole magnet to be tested;
the control feedback system controls the harmonic coil to rotate for a circle, and controls each special measuring camera to acquire three-dimensional coordinate data of the matte total reflection ball target and the reflection ball target with the fluorescent marker in real time in the rotation process of the harmonic coil;
and the control feedback system controls the automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent marker, so that the deviation between the multipole magnet to be detected and the harmonic coil is eliminated.
Further, the control feedback system controls the automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent mark, and eliminates the deviation between the multipole magnet to be detected and the harmonic coil, and the control feedback system comprises:
carrying out image processing, image matching and data conversion on the three-dimensional coordinate data acquired by each special measurement camera to obtain the three-dimensional coordinate data of each matte total reflection ball target and each reflection ball target with a fluorescent cursor after processing;
respectively fitting the circumference and constructing the axis of the harmonic coil and a harmonic coil magnetism measuring coordinate system according to the three-dimensional coordinate data of each matte total reflection ball target;
determining a calibration coordinate system of the multi-pole magnet to be detected according to the three-dimensional coordinate data of each reflecting spherical target with the fluorescent marker and the pre-imported calibration data of the multi-pole magnet to be detected, and further determining the deviation between the magnetic coordinate system of the harmonic coil and the calibration coordinate system of the multi-pole magnet to be detected;
controlling an automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the calculated deviation amount;
the harmonic coil is controlled to rotate for a circle again, the deviation amount is determined, and if the deviation amount determined again is within the preset magnetic field measurement tolerance range, the harmonic coil is controlled to start magnetic field measurement; otherwise, the deviation is determined again until the deviation is within the predetermined magnetic field measurement tolerance.
Further, the determining a calibration coordinate system of the multipole magnet to be measured according to the three-dimensional coordinate data of each reflective spherical target with the fluorescent marker and the pre-imported calibration data of the multipole magnet to be measured, and further determining the deviation between the magnetic coordinate system of the harmonic coil and the calibration coordinate system of the multipole magnet to be measured, includes:
the rotation amount matrix model between the harmonic coil magnetism measurement coordinate system and the multipolar magnet calibration coordinate system to be measured comprises a relation matrix model around an X axis, a relation matrix model around a Y axis and a relation matrix model around a Z axis, which are respectively as follows:
wherein, X1、Y1、Z1Measuring coordinates under a magnetic coordinate system for the harmonic coil; x2、Y2、Z2Calibrating coordinates under a coordinate system for the multipole magnet to be measured; alpha, beta,
Three rotation amounts between a harmonic coil magnetism measuring coordinate system and a multipolar magnet calibration coordinate system to be measured are obtained; rx(α) is a rotation matrix about the X-axis; ry(β) is a rotation matrix around the Y-axis; rz(phi) is a rotation matrix around the Z axis;
the displacement matrix model between the harmonic coil magnetism measuring coordinate system and the multi-pole magnet calibration coordinate system to be measured is as follows:
wherein d isX、dY、dZThree translation amounts along coordinate axes between a harmonic coil magnetism measuring coordinate system and a multipolar magnet calibration coordinate system to be measured;
the rotation amounts α, β, and,
And the amount of translation dX、dY、dZThe deviation amount of the six degrees of freedom is obtained.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention is provided with the photogrammetry system which comprises a plurality of special cameras for measurement, and can measure the magnetic field of the harmonic coil to form full coverage of the measurement field of vision. The device has the advantages that the device can be cooperated with the spherical targets arranged on the harmonic coil and the multi-pole magnet, key geometric elements of the harmonic coil and the multi-pole magnet can be rapidly measured in a non-contact manner, the position relation between the harmonic coil and the multi-pole magnet can be monitored in real time, and the accuracy and the reliability of magnetic field measurement of the harmonic coil of the multi-pole magnet are further guaranteed.
2. According to the invention, the harmonic coil magnetism measurement coordinate system and the calibration coordinate system of the multipole magnet are automatically established through the control feedback system, and the deviation amount of the two coordinate systems is calculated, so that the reliability of measurement and positioning can be increased, and the measurement efficiency of the magnetism measurement and positioning is improved.
3. According to the invention, after the deviation amount between the harmonic coil and the multipole magnet is determined, the control feedback system can synchronously feed back the automatically calculated deviation amount to the automatic posture adjusting system, the automatic posture adjusting system automatically adjusts the deviation amount in the reverse direction, and the posture between the harmonic coil and the multipole magnet is quickly adjusted to be within the range allowed by the magnetic field measurement tolerance, so that the efficiency of positioning and adjusting the multipole magnet is further improved on the basis of releasing manpower.
4. The invention can realize one-key operation of measuring and positioning the magnetic field of the harmonic coil, improves the positioning efficiency and saves the labor cost at the same time, thereby realizing automation and intellectualization of measuring the magnetic field of the harmonic coil.
In conclusion, the method is simple and convenient to operate, and can be widely applied to the technical field of positioning measurement of a multi-pole magnet magnetic field photogrammetric system of a particle accelerator.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like reference numerals refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of an automated positioning apparatus for measuring a magnetic field of a harmonic coil according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The automatic positioning device and the method for measuring the magnetic field of the harmonic coil provided by the embodiment of the invention can quickly measure key geometric elements of the harmonic coil and the multipolar magnet to be measured without contact by using the photogrammetric system arranged at the periphery of the multipolar magnet to be measured, measuring the matte total reflection ball targets arranged at two sides of the harmonic coil and the reflection ball target with the fluorescent cursor arranged in the calibration standard at the top of the multipolar magnet to be measured in a pairwise intersection way, and the automatic posture adjusting system is controlled to adjust the posture of the multipolar magnet to be measured by the control feedback system according to the measurement data of each matte total reflection ball target and the reflection ball target with the fluorescent mark, so as to eliminate the deviation between the multipolar magnet to be measured and the harmonic coil, therefore, one-key operation and non-contact measurement of magnetic field measurement and positioning of the harmonic coil are realized, and the positioning reliability and positioning efficiency of the photographic measuring system of the magnetic field of the harmonic coil are improved.
Example 1
As shown in fig. 1, the present embodiment provides an automatic positioning device for harmonic coil magnetic field measurement, which includes an automatic pose adjusting system 1, a photogrammetry system 2, and a control feedback system 3, wherein the photogrammetry system 2 includes a matte total reflection ball target 21, a reflection ball target 22 with a fluorescent mark, and a special measurement camera 23.
The automatic posture adjusting system 1 is used for placing the multipole magnet 4 to be detected and adjusting the posture of the multipole magnet 4 to be detected. The two matte total reflection ball targets 21 are respectively and fixedly arranged at two sides of the harmonic coil 5 arranged in the multipole magnet 4 to be measured, the plurality of reflection ball targets 22 with the fluorescent markers are respectively and fixedly arranged in the calibration reference at the top of the multipole magnet 4 to be measured, and the reflection ball targets 22 with the fluorescent markers are used for converting the calibration reference data of the laser tracker of the multipole magnet 4 to be measured into photogrammetric data. A plurality of special measuring cameras 23 are arranged at intervals outside the automatic posture adjusting system 1, and the special measuring cameras 23 are used for acquiring three-dimensional coordinate data of each matte total reflection ball target 21 and each reflection ball target 22 with a fluorescent mark.
The control feedback system 3 is respectively and electrically connected with the automatic posture adjusting system 1 and each special measuring camera 23, the control feedback system 3 is used for controlling the rotation of the harmonic coil 5, controlling the work of the automatic posture adjusting system 1 and each special measuring camera 23, and controlling the automatic posture adjusting system 1 to adjust the posture of the multipolar magnet 4 to be detected according to the three-dimensional coordinate data of each matte total reflection ball target 21 and the reflection ball target 22 with the fluorescent cursor, so as to eliminate the deviation between the multipolar magnet 4 to be detected and the harmonic coil 5.
It should be noted that the harmonic coil 5 of the present invention includes a hollow cylinder 51, a coil is disposed in the hollow cylinder 51, and two ends of the hollow cylinder 51 are respectively provided with a marble cylinder 52 for supporting.
In a preferred embodiment, the automatic posture adjustment system 1 includes a base 11, a support adjuster 12, a support plate 13, and a driving motor. The top of the base 11 is connected with a supporting plate 13 through a supporting regulator 12, the supporting plate is used for placing the multi-pole magnet 4 to be measured, and the supporting regulator 12 is used for supporting and regulating the pose of the multi-pole magnet 4 to be measured on the supporting plate 13. Each supporting regulator 12 is electrically connected with a driving motor respectively, and the driving motor is used for driving the corresponding supporting regulator 12 to act according to the control of the control feedback system 3, so as to regulate the pose of the multipole magnet 4 to be measured.
Specifically, the number of the support adjusters 12 is six, and every two support adjusters 12 are set in a V-shaped configuration between the base 11 and the support plate 13. The six supporting adjusters 12 are used for supporting and adjusting the six-degree-of-freedom pose of the multipole magnet 4 to be measured which is placed on the top of the supporting plate 13 by less than 10 tons.
More specifically, each support adjuster 12 includes a coupling and a hydraulic support rod. One end of each hydraulic support rod is connected with the support plate 13 through a corresponding coupler, and the other end of each hydraulic support rod is connected with the base 11 through a corresponding coupler. Each coupling is electrically connected with a driving motor.
In a preferred embodiment, the special measuring camera 23 can use the MPS/M20 high precision measuring camera of Chenwei technology corporation to measure the target in three dimensions, and the maximum frame rate can reach 20 frames/second. The basic principle of the photogrammetry of the special measurement camera 23 is as follows: and acquiring image data of the measurement target, performing image matching and measurement data adjustment processing through corresponding photogrammetry software, and calculating the three-dimensional space coordinate of the measurement target. In the measurement process, at least two special measurement cameras 23 should shoot the image data of the measurement target at the same time (or one special measurement camera 23 shoots at different shooting stations), and the three-dimensional space coordinates of the measurement target can be accurately calculated by processing at least two pieces of image data of the measurement target through corresponding photogrammetry software.
In a preferred embodiment, the photogrammetric system 2 further comprises a stand 24. A plurality of brackets 24 are symmetrically and fixedly arranged at intervals outside the automatic posture adjusting system 1, and each bracket 24 is provided with a special measuring camera 23.
Specifically, support 24 can adopt carbon fiber single pole support, and the outside of each support 24 all is equipped with the stainless steel protective sleeve section of thick bamboo, and the bottom of each stainless steel protective sleeve section of thick bamboo all is fixed with ground for prevent external force to the striking of support, influence the stability of camera on support 24.
Specifically, the number of the stand 24 and the measurement-dedicated cameras 23 is four.
Specifically, the plurality of special measuring cameras 23 intersect with each other at the center of the harmonic coil 5, so that the measuring field of view of the special measuring cameras 23 can fully cover the multi-pole magnet 4 and the harmonic coil 5 to be measured.
Specifically, the base line of the single-side two-measurement-dedicated camera 23 is 3m, and the horizontal distance from the measurement-dedicated camera 23 to the workpiece is 1.5 m.
In a preferred embodiment, each matte total reflection spherical target 21 comprises a connecting rod, a metal matte total reflection spherical target and a hoop, one end of each connecting rod is fixedly connected with the corresponding metal matte total reflection spherical target, the other end of each connecting rod is fixedly connected with the corresponding hoop, and the diameter of each hoop is the same as that of the harmonic coil 5, so that the metal matte total reflection spherical target and the harmonic coil 5 can be quickly assembled.
In a preferred embodiment, the number of reflective spherical targets 22 with fluorescent markers is four. The diameter of the reflective ball target 22 with the fluorescent marker is the same as the diameter of the reflective ball target of the laser tracker.
In a preferred embodiment, a parameter setting module, a measurement control module and a data calculating module are arranged in the control feedback system 3
The parameter setting module is used for presetting calibration data and a magnetic field measurement tolerance range of the multipole magnet 4 to be measured.
The measurement control module is configured to control the operation of each special measurement camera 23 and perform image processing, image matching, data conversion, and the like on the three-dimensional coordinate data acquired by each special measurement camera 23 to obtain measurement data of each matte total reflection spherical target 21 and the reflection spherical target 22 with a fluorescent marker after the processing, where the measurement control module may be implemented in photogrammetry software disclosed in the prior art, and the specific process is not described herein again.
The data calculation module is used for determining the deviation amount between the multi-pole magnet 4 to be measured and the harmonic coil 5 according to the processed three-dimensional coordinate data of each matte total reflection spherical target 21 and the reflection spherical target 22 with the fluorescent marker.
And the posture adjusting control module is used for controlling the work of the automatic posture adjusting system 1 according to the determined deviation amount.
The harmonic coil control module is used for controlling the rotation of the harmonic coil 5 and the acquisition of magnetic field measurement data.
Example 2
As shown in fig. 2, the present embodiment provides an automatic positioning method for harmonic coil magnetic field measurement, including the following steps:
1) a plurality of special measuring cameras 23 are arranged at intervals outside the automatic posture adjusting system 1, and specifically the special measuring cameras are as follows:
1.1) four corners of the automatic posture adjusting system 1 are fixedly provided with brackets, and each bracket is provided with a corresponding special measuring camera 23.
Specifically, the outside of each support all is equipped with a stainless steel protective sleeve section of thick bamboo, and the bottom of each stainless steel protective sleeve section of thick bamboo all is fixed with ground, prevents to measure the change of special camera 23 position and gesture on the support.
1.2) adjusting the pitch angle and the attitude of each special measuring camera 23, so that each special measuring camera 23 intersects with the center of the harmonic coil 5 in pairs, and the measuring visual field of the special measuring camera 23 forms full coverage on the multi-pole magnet 4 and the harmonic coil 5 to be measured.
1.3) the control feedback system 3 controls the orientation and calibration of each measurement-specific camera 23.
Specifically, the measurement control module of the control feedback system 3 adopts a directional ruler to perform system orientation on each measurement-dedicated camera 23, and the basic principle of the system orientation is a calibration method for external parameters of a virtual point set control field based on a one-dimensional target, and the basic method is as follows:
the method comprises the steps of adopting a reference ruler with a known length to freely move in a public view field space of each special measuring camera 23 to obtain a plurality of calibration images, obtaining a plurality of groups of image point coordinates through image processing, realizing relative orientation through a geometric relation between views and absolute orientation through the known length, considering Euclidean space invariance and minimum image point residual error, and obtaining an accurate value of a camera structure parameter through iteration by using a column optimization function.
If the actual field is seriously shielded, the measurement control module of the control feedback system 3 performs system orientation on each measurement special camera 23 in a control field orientation mode, namely, a certain number of photographic coding marks are pasted in the region to be measured, a measurement special camera 23 is used for photographing and measuring, data analysis and calculation are performed to obtain three-dimensional coordinate values of all the coding marks to serve as control field data, and the control field data is led into the measurement control module to perform control field orientation to obtain parameter calibration of each measurement special camera 23.
2) The multi-pole magnet 4 to be measured is placed on the automatic posture adjusting system 1, the harmonic coil 5 is installed in the multi-pole magnet 4 to be measured, the two matte total reflection ball targets 21 are clamped and fixed on two sides of the harmonic coil 5, and the plurality of reflection ball targets 22 with the fluorescent markers are fixedly arranged in a calibration standard on the upper surface of the multi-pole magnet 4 to be measured, and the method specifically comprises the following steps:
2.1) placing the multipole magnet 4 to be tested on top of the support plate.
Specifically, in order to enable the multipole magnet 4 to be measured to be within the pose adjustment range of the automatic pose adjustment system 1, the multipole magnet 4 to be measured is approximately located at the middle position of the support plate during placement, and the beam central line of the multipole magnet 4 to be measured is approximately parallel to (with an offset angle smaller than 5 degrees) the rotation axis of the harmonic coil 5.
2.2) the harmonic coil 5 is arranged in the multi-pole magnet 4 to be measured, and the two matte total reflection ball targets 21 are clamped and fixed at the two sides of the harmonic coil 5, so that each matte total reflection ball target 21 can synchronously rotate along with the rotation of the harmonic coil 5.
2.3) fixedly arranging a plurality of reflecting ball targets 22 with fluorescent marks in the calibration standard on the upper surface of the multipole magnet 4 to be measured, and upwards installing the fluorescent reflecting marks of the laser tracker converting ball targets.
3) The harmonic coil control module of the control feedback system 3 controls the harmonic coil 5 installed in the multi-pole magnet 4 to be tested to rotate for a circle, and controls each special measuring camera 23 to acquire three-dimensional coordinate data of the matte total reflection ball target 21 and the reflection ball target 22 with the fluorescent marker in real time in the rotation process of the harmonic coil 5.
4) The control feedback system 3 controls the automatic posture adjusting system 1 to adjust the posture of the multipolar magnet 4 to be measured according to the three-dimensional coordinate data of each matte total reflection spherical target 21 and the reflection spherical target 22 with the fluorescent marker, and eliminates the deviation between the multipolar magnet 4 to be measured and the harmonic coil 5, and the control feedback system specifically comprises the following steps:
4.1) the measurement control module performs image processing, image matching, data conversion and other processing on the three-dimensional coordinate data acquired by each special measurement camera 23 to obtain the three-dimensional coordinate data of each matte total reflection ball target 21 and each reflection ball target 22 with a fluorescent mark after processing.
And 4.2) the data resolving module respectively fits the circumference and constructs the axis of the harmonic coil 5 and a harmonic coil magnetism measuring coordinate system according to the processed three-dimensional coordinate data of each matte total reflection spherical target 21.
Specifically, the calculation process of the space circle is as follows:
setting the center of a circle C0Has the coordinate of P0＝(x0，y0，z0) In the three-dimensional points of space measured by the photogrammetric system 2 during the rotation of the matt total reflection ball target 21Take two points P1＝(x1，y1，z1) And P2＝(x2，y2，z2) Measuring point P1And a measuring point P2Has a midpoint of P12Then, then
Wherein:
(Vector)
sum vector
Has an inner product of 0, and has:
Δx12x0+Δy12y0+Δz12z0-l1＝0 (3)
wherein, Δ x12、Δy12、Δz12Are respectively a measuring point P1And a measuring point P2Of three-axis coordinate difference, i.e. Δ x12＝x2-x1，Δy12＝y2-y1，Δz12＝z2-z1；l1To a measurement point P1And a measuring point P2Corresponding parameters, and l1Comprises the following steps:
assuming n measurement points, n-1 linearly independent equations can be listed, and the error equation is:
wherein v isn-1The residual error of the measuring point n-1, namely the deviation between the analog value and the measured value; Δ x(n-1)n、Δy(n-1)n、Δz(n-1)nAre respectively a measuring point Pn-1And a measuring point PnThe difference of the three-axis coordinates of (1); ln-1To a measurement point Pn-1And a measuring point PnCorresponding parameters, and:
wherein x isn-1，yn-1，zn-1To a measurement point Pn-1The coordinates of (a); x is the number ofn，yn，znTo a measurement point PnThe coordinates of (a).
The above equation (4) is simplified as:
V＝BX-L (7)
wherein:
wherein, V is a residual vector composed of the residual errors of all the measuring points; b is a design matrix, and X is a circle center C0Coordinates of the points; l is a design vector.
The center of the fitted circle is always on a fitted space plane ax + by + cz-d which is 0, wherein d is the distance from the space plane to the origin of coordinates; c is (abc), C is a unit normal vector corresponding to the spatial plane, and a, b, and C are dimensions of the normal vector in the x, y, and z directions, respectively, so that the constraint is:
CX-Wx＝0 (12)
wherein, Wx＝d。
The normal equation is:
wherein, KsA joint coefficient vector that is a constraint; the weight matrix P is a unit matrix, so that a least square solution of the circle center can be obtained:
then according to the least square solution of the circle center, the distance r from each measuring point to the circle center of the space circle is calculatedi：
The radius of the spatial circle is:
4.3) the calibration data of the multipolar magnet 4 to be measured is pre-imported into the parameter setting module, and the data calculation module determines the calibration coordinate system of the multipolar magnet to be measured according to the processed three-dimensional coordinate data of each reflecting spherical target 22 with the fluorescent marker and the calibration data of the multipolar magnet 4 to be measured, so as to determine the deviation amount between the magnetic coordinate system of the harmonic coil and the calibration coordinate system of the multipolar magnet to be measured in six degrees of freedom.
Specifically, the calibration process of the multipole magnet 4 to be measured is as follows: and measuring the geometric elements of the multipole magnet 4 to be measured by adopting a laser tracker, and converting the geometric center coordinates of the multipole magnet 4 to be measured to the calibration reference of the upper surface of the multipole magnet 4 to be measured.
Specifically, the calculation process of the deviation between the harmonic coil magnetism measurement coordinate system and the multi-pole magnet calibration coordinate system to be measured in six degrees of freedom is as follows:
the rotation amount matrix model between the harmonic coil magnetism measurement coordinate system and the multipolar magnet calibration coordinate system to be measured comprises a relation matrix model around an X axis, a relation matrix model around a Y axis and a relation matrix model around a Z axis, which are respectively as follows:
wherein, X1、Y1、Z1Measuring coordinates under a magnetic coordinate system for the harmonic coil; x2、Y2、Z2Calibrating coordinates under a coordinate system for the multipole magnet to be measured; alpha, beta,
Three rotation amounts between a harmonic coil magnetism measuring coordinate system and a multipolar magnet calibration coordinate system to be measured are obtained; rx(α) is a rotation matrix about the X-axis; ry(β) is a rotation matrix around the Y-axis; rzAnd (phi) is a rotation matrix around the Z axis.
The displacement matrix model between the harmonic coil magnetism measuring coordinate system and the multi-pole magnet calibration coordinate system to be measured is as follows:
wherein d isX、dY、dZThree translation amounts along coordinate axes between a harmonic coil magnetism measuring coordinate system and a multipolar magnet calibration coordinate system to be measured;
the rotation amounts α, β, and,
And the amount of translation dX、dY、dZI.e. the deviation of the six degrees of freedom sought.
And 4.4) controlling the automatic posture adjusting system 1 to adjust the posture of the multipole magnet 4 to be detected according to the calculated deviation value by the posture adjusting control module.
Specifically, the control feedback system 3 automatically feeds back the calculated deviation amount to the automatic posture adjustment system 1, controls the six support regulators of the automatic posture adjustment system 1, adjusts the posture of the top support plate, further drives the posture of the multipole magnet 4 to be measured on the support plate, and adjusts the multipole magnet 4 to be measured to be within the range (displacement amount 0.05mm, rotation amount 0.01 degree) allowed by the magnetic field measurement tolerance.
4.5) entering the step 3), the harmonic coil control module controls the harmonic coil 5 to rotate for a circle again and determines a deviation amount, and if the re-determined deviation amount is within a preset magnetic field measurement tolerance range, the harmonic coil control module controls the feedback system 3 to control the harmonic coil 5 to start magnetic field measurement; otherwise, the step 3) is carried out again until the deviation amount is within the preset magnetic field measurement tolerance range.
Further, in the process of measuring the magnetic field of the harmonic coil 5, the photogrammetric system 2 and the control feedback system 3 repeat the steps 3) to 4) in real time, and the deviation between the harmonic coil 5 and the multipolar magnet 4 to be measured is monitored in real time.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. An automatic positioning device for measuring a harmonic coil magnetic field is characterized by comprising an automatic posture adjusting system, a photogrammetry system and a control feedback system, wherein the photogrammetry system comprises a matte total reflection ball target, a reflection ball target with a fluorescent mark and a special measuring camera;
the automatic posture adjusting system is used for placing the multipole magnet to be detected and adjusting the posture of the multipole magnet to be detected;
at least two matte total reflection ball targets are fixedly arranged on a harmonic coil arranged in the multipole magnet to be detected, and a plurality of reflection ball targets with fluorescent markers are respectively fixedly arranged at the top of the multipole magnet to be detected; a plurality of special measuring cameras are arranged at intervals outside the automatic posture adjusting system and are used for acquiring three-dimensional coordinate data of each matte total reflection ball target and each reflection ball target with a fluorescent mark;
the control feedback system is used for controlling the rotation of the harmonic wave coil and controlling the automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent marker.
2. The automated positioning device for harmonic coil magnetic field measurement according to claim 1, wherein the automatic attitude adjusting system comprises a base, a support adjuster, a driving motor and a support plate;
the top of the base is connected with the supporting plate through the supporting regulator, the supporting plate is used for placing the multipole magnet to be measured, and the supporting regulator is used for supporting and regulating the pose of the multipole magnet to be measured on the supporting plate;
and the driving motor is used for driving the action corresponding to the supporting regulator according to the control of the control feedback system, so as to regulate the pose of the multipole magnet to be measured.
3. The automated positioning device for harmonic coil magnetic field measurement according to claim 2, wherein the number of the supporting adjusters is six, and every two supporting adjusters are a group of V-shaped structures and are disposed between the base and the supporting plate.
4. The automated positioning apparatus for harmonic coil magnetic field measurements of claim 1 wherein the photogrammetric system further comprises a support;
the brackets are symmetrically and fixedly arranged at intervals outside the automatic posture adjusting system, and each bracket is provided with one special measuring camera.
5. The automatic positioning device for measuring the magnetic field of the harmonic coil of claim 1, wherein a plurality of the cameras special for measurement are intersected in pairs at the center of the harmonic coil, so that the measurement visual field of the cameras special for measurement can fully cover the multipole magnet and the harmonic coil to be measured.
6. The automatic positioning device for measuring the magnetic field of the harmonic coil according to claim 1, wherein a parameter setting module, a measurement control module, a data resolving module, an attitude adjusting control module and a harmonic coil control module are arranged in the control feedback system;
the parameter setting module is used for presetting the calibration data and the magnetic field measurement tolerance range of the multipole magnet to be measured;
the measurement control module is used for controlling the work of each special measurement camera and carrying out image processing, image matching and data conversion on the three-dimensional coordinate data acquired by each special measurement camera;
the data resolving module is used for determining the deviation amount between the multipole magnet to be detected and the harmonic coil according to the processed three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent marker;
the posture adjusting control module is used for controlling the automatic posture adjusting system to work according to the determined deviation amount;
the harmonic coil control module is used for controlling the rotation of the harmonic coil and the acquisition of magnetic field measurement data.
7. The automated positioning apparatus for harmonic coil magnetic field measurement according to claim 1, wherein the diameter of the reflective spherical target with the fluorescent marker is the same as the diameter of the reflective spherical target of the laser tracker.
8. An automated positioning method for harmonic coil magnetic field measurement, comprising:
a plurality of special measuring cameras are arranged at intervals outside the automatic posture adjusting system;
placing a multi-pole magnet to be tested on an automatic posture adjusting system, installing a harmonic coil in the multi-pole magnet to be tested, clamping and fixing at least two matte total reflection ball targets on the harmonic coil, and fixedly arranging a plurality of reflection ball targets with fluorescent markers on the top of the multi-pole magnet to be tested;
the control feedback system controls the harmonic coil to rotate for a circle, and controls each special measuring camera to acquire three-dimensional coordinate data of the matte total reflection ball target and the reflection ball target with the fluorescent marker in real time in the rotation process of the harmonic coil;
and the control feedback system controls the automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the three-dimensional coordinate data of each matte total reflection ball target and the reflection ball target with the fluorescent marker, so that the deviation between the multipole magnet to be detected and the harmonic coil is eliminated.
9. The automatic positioning device for measuring the magnetic field of the harmonic coil according to claim 8, wherein the control feedback system controls the automatic posture adjusting system to adjust the posture of the multipole magnet to be measured according to the three-dimensional coordinate data of each of the matte total reflection ball target and the reflection ball target with the fluorescent mark, so as to eliminate the deviation between the multipole magnet to be measured and the harmonic coil, and the automatic positioning device comprises:
carrying out image processing, image matching and data conversion on the three-dimensional coordinate data acquired by each special measurement camera to obtain the three-dimensional coordinate data of each matte total reflection ball target and each reflection ball target with a fluorescent cursor after processing;
respectively fitting the circumference and constructing the axis of the harmonic coil and a harmonic coil magnetism measuring coordinate system according to the three-dimensional coordinate data of each matte total reflection ball target;
determining a calibration coordinate system of the multi-pole magnet to be detected according to the three-dimensional coordinate data of each reflecting spherical target with the fluorescent marker and the pre-imported calibration data of the multi-pole magnet to be detected, and further determining the deviation between the magnetic coordinate system of the harmonic coil and the calibration coordinate system of the multi-pole magnet to be detected;
controlling an automatic posture adjusting system to adjust the posture of the multipole magnet to be detected according to the calculated deviation amount;
the harmonic coil is controlled to rotate for a circle again, the deviation amount is determined, and if the deviation amount determined again is within the preset magnetic field measurement tolerance range, the harmonic coil is controlled to start magnetic field measurement; otherwise, the deviation is determined again until the deviation is within the predetermined magnetic field measurement tolerance.
10. The apparatus of claim 9, wherein the determining the calibration coordinate system of the multi-pole magnet to be measured according to the three-dimensional coordinate data of each reflective spherical target with a fluorescent marker and the pre-imported calibration data of the multi-pole magnet to be measured, and further determining the deviation between the calibration coordinate system of the multi-pole magnet to be measured and the calibration coordinate system of the harmonic coil comprises:
the rotation amount matrix model between the harmonic coil magnetism measurement coordinate system and the multipolar magnet calibration coordinate system to be measured comprises a relation matrix model around an X axis, a relation matrix model around a Y axis and a relation matrix model around a Z axis, which are respectively as follows:
wherein, X1、Y1、Z1Measuring coordinates under a magnetic coordinate system for the harmonic coil; x2、Y2、Z2Calibrating coordinates under a coordinate system for the multipole magnet to be measured; alpha, beta,
Three rotation amounts between a harmonic coil magnetism measuring coordinate system and a multipolar magnet calibration coordinate system to be measured are obtained; rx(α) is a rotation matrix about the X-axis; ry(β) is a rotation matrix around the Y-axis; rz(phi) is a rotation matrix around the Z axis;
the displacement matrix model between the harmonic coil magnetism measuring coordinate system and the multi-pole magnet calibration coordinate system to be measured is as follows:
wherein d isX、dY、dZThree translation amounts along coordinate axes between a harmonic coil magnetism measuring coordinate system and a multipolar magnet calibration coordinate system to be measured;
the rotation amounts α, β, and,
And the amount of translation dX、dY、dZThe deviation amount of the six degrees of freedom is obtained.
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